version: 66.07.10.p01
glider: 574
mission: 4
dive: 432
start: 12 30 112 0 57 39
data:
$ID,574
$MISSION,4
$DIVE,432
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,385
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7222.5806
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,411
$GPS1,301212,005559,-4125.132,-513.231,97,1.2,97,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-65.3
$GPS2,301212,005719,-4125.130,-513.240,16,1.8,17,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,117.5,101988,-17.1,-9.259
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.86,-145.9,0.0,0.0,0,64,0.00,0.00,-36.83,0.000,2,0.000,0.000,68,1815,1911,0,0,0,0,0,0
$GC,67,-0.86,-145.9,3.2,-1.1,6,147,12.62,2.22,-58.55,0.000,4,0.264,0.066,2707,3164,3422,0,0,0,0,0,0
$GC,238,-0.81,-145.9,15.5,-13.2,34,246,0.10,2.20,0.00,0.000,6,0.138,0.050,2739,1808,3423,0,0,0,0,0,0
$GC,320,-0.87,-145.9,26.5,-13.5,47,327,0.00,1.48,0.00,0.000,4,0.000,0.060,2738,912,3424,0,0,0,0,0,0
$GC,393,-0.92,-145.9,34.1,-10.8,59,399,0.05,1.35,0.00,0.000,6,0.077,0.040,2705,1763,3424,0,0,0,0,0,0
$GC,629,-0.89,-145.9,64.1,-13.6,100,634,0.00,0.93,0.00,0.000,4,0.000,0.054,2705,1193,3424,0,0,0,0,0,0
$GC,697,-0.89,-145.9,72.2,-10.5,112,703,0.03,0.95,0.00,0.000,6,0.186,0.039,2710,1807,3424,0,0,0,0,0,0
$GC,1049,-0.93,-145.9,108.4,-10.8,165,1053,0.00,1.73,0.00,0.000,4,0.000,0.056,2709,757,3425,0,0,0,0,0,0
$GC,1120,-0.93,-145.9,115.7,-10.0,169,1124,0.00,1.62,0.00,0.000,6,0.000,0.036,2704,1797,3426,0,0,0,0,0,0
$GC,1450,-0.93,-145.9,152.0,-11.0,190,1453,0.00,1.40,0.00,0.000,4,0.000,0.054,2703,940,3426,0,0,0,0,0,0
$GC,1528,-0.95,-145.9,160.9,-11.1,194,1536,0.00,1.35,0.00,0.000,6,0.000,0.035,2699,1805,3426,0,0,0,0,0,0
$GC,1849,-0.95,-145.9,194.9,-11.0,215,1853,0.00,1.83,0.00,0.000,4,0.000,0.055,2699,689,3426,0,0,0,0,0,0
$GC,1910,-0.95,-145.9,202.2,-11.4,218,1918,0.00,1.73,0.00,0.000,6,0.000,0.034,2691,1799,3427,0,0,0,0,0,0
$GC,2232,-0.93,-145.9,238.4,-11.7,239,2236,0.00,0.38,0.00,0.000,4,0.000,0.048,2689,2082,3427,0,0,0,0,0,0
$GC,2270,-0.93,-145.9,242.8,-11.6,241,2274,0.03,0.45,0.00,0.000,6,0.167,0.049,2699,1774,3427,0,0,0,0,0,0
$GC,2602,-0.93,-145.9,281.7,-11.6,258,2606,0.00,1.20,0.00,0.000,4,0.000,0.055,2699,1026,3427,0,0,0,0,0,0
$GC,2651,-0.93,-145.9,287.9,-11.1,260,2656,0.00,1.20,0.00,0.000,6,0.000,0.034,2694,1809,3427,0,0,0,0,0,0
$GC,2979,-0.93,-145.9,325.4,-11.4,276,2983,0.00,1.38,0.00,0.000,4,0.000,0.054,2694,965,3427,0,0,0,0,0,0
$GC,3034,-0.93,-145.9,332.0,-11.2,278,3039,0.03,1.30,0.00,0.000,6,0.183,0.035,2698,1799,3427,0,0,0,0,0,0
$GC,3356,-0.95,-145.9,369.1,-11.7,294,3360,0.00,1.35,0.00,0.000,4,0.000,0.053,2698,969,3427,0,0,0,0,0,0
$GC,3411,-0.95,-145.9,376.0,-12.1,296,3416,0.00,1.27,0.00,0.000,6,0.000,0.035,2694,1790,3427,0,0,0,0,0,0
$GC,3753,-0.95,-145.9,414.5,-11.0,311,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1790,3427,0,0,0,0,0,0
$GC,4059,-0.95,-145.9,447.2,-10.8,321,4062,0.00,1.40,0.00,0.000,4,0.000,0.053,2694,933,3427,0,0,0,0,0,0
$GC,4114,-0.95,-145.9,453.1,-10.5,322,4118,0.00,1.35,0.00,0.000,6,0.000,0.035,2688,1798,3427,0,0,0,0,0,0
$GC,4432,-0.95,-145.9,485.5,-10.4,333,4436,0.00,0.45,0.00,0.000,4,0.000,0.054,2688,1505,3426,0,0,0,0,0,0
$GC,4560,-0.95,-145.9,499.1,-10.3,336,4566,0.00,0.47,0.00,0.000,6,0.000,0.043,2687,1818,3426,0,0,0,0,0,0
$GC,4873,-0.95,-145.9,530.6,-10.2,347,4877,0.00,1.20,0.00,0.000,4,0.000,0.052,2687,1076,3426,0,0,0,0,0,0
$GC,4941,-0.95,-145.9,537.8,-10.4,349,4945,0.00,1.10,0.00,0.000,6,0.000,0.037,2683,1792,3426,0,0,0,0,0,0
$GC,5281,-0.95,-145.9,572.3,-10.1,360,5285,0.05,1.52,0.00,0.000,4,0.235,0.054,2698,869,3425,0,0,0,0,0,0
$GC,5335,-0.95,-145.9,577.8,-10.0,361,5340,0.00,1.45,0.00,0.000,6,0.000,0.034,2693,1797,3425,0,0,0,0,0,0
$GC,5654,-0.97,-145.9,607.4,-9.4,372,5658,0.00,1.10,0.00,0.000,4,0.000,0.054,2693,1114,3424,0,0,0,0,0,0
$GC,5737,-0.97,-145.9,615.5,-9.6,374,5742,0.00,1.08,0.00,0.000,6,0.000,0.036,2688,1811,3424,0,0,0,0,0,0
$GC,6062,-0.97,-145.9,646.6,-9.8,385,6066,0.00,0.82,0.00,0.000,4,0.000,0.052,2688,1299,3423,0,0,0,0,0,0
$GC,6133,-0.97,-145.9,653.9,-9.8,387,6138,0.00,0.80,0.00,0.000,6,0.000,0.039,2686,1807,3422,0,0,0,0,0,0
$GC,6469,-0.97,-145.9,687.9,-10.2,398,6473,0.00,0.43,0.00,0.000,4,0.000,0.053,2686,1527,3422,0,0,0,0,0,0
$GC,6525,-0.97,-145.9,694.0,-10.8,399,6528,0.00,0.40,0.00,0.000,6,0.000,0.046,2684,1803,3421,0,0,0,0,0,0
$GC,6843,-0.97,-145.9,727.6,-10.9,410,6846,0.00,0.73,0.00,0.000,4,0.000,0.052,2684,1348,3421,0,0,0,0,0,0
$GC,6937,-0.97,-145.9,738.2,-10.9,412,6943,0.00,0.70,0.00,0.000,6,0.000,0.041,2681,1795,3420,0,0,0,0,0,0
$GC,7250,-0.97,-145.9,773.1,-11.2,423,7254,0.00,1.35,0.00,0.000,4,0.000,0.053,2681,969,3420,0,0,0,0,0,0
$GC,7305,-0.97,-145.9,779.7,-11.9,424,7309,0.00,1.30,0.00,0.000,6,0.000,0.037,2676,1801,3420,0,0,0,0,0,0
$GC,7624,-0.97,-145.9,815.8,-11.4,435,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1802,3419,0,0,0,0,0,0
$GC,7930,-0.97,-145.9,849.0,-10.6,445,7934,0.00,0.60,0.00,0.000,4,0.000,0.051,2676,1420,3419,0,0,0,0,0,0
$GC,7986,-0.97,-145.9,855.2,-11.4,446,7990,0.03,0.57,0.00,0.000,6,0.187,0.042,2683,1802,3419,0,0,0,0,0,0
$GC,8303,-0.97,-145.9,887.2,-10.2,457,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1802,3418,0,0,0,0,0,0
$GC,8609,-0.97,-145.9,916.9,-9.4,467,8613,0.00,1.15,0.00,0.000,4,0.000,0.052,2683,1094,3418,0,0,0,0,0,0
$GC,8658,-0.97,-145.9,921.7,-9.3,468,8663,0.00,1.08,0.00,0.000,6,0.000,0.037,2680,1790,3418,0,0,0,0,0,0
$GC,8983,-1.00,-145.9,952.7,-9.8,479,8987,0.00,0.60,0.00,0.000,4,0.000,0.050,2679,1407,3418,0,0,0,0,0,0
$GC,9040,-1.00,-145.9,958.6,-11.2,480,9043,0.00,0.60,0.00,0.000,6,0.000,0.042,2677,1804,3417,0,0,0,0,0,0
$GC,9358,-1.00,-145.9,991.0,-10.4,491,9361,0.00,1.48,0.00,0.000,4,0.000,0.053,2677,901,3416,0,0,0,0,0,0
$GC,9407,-1.00,-145.9,996.5,-11.6,492,9411,0.00,1.40,0.00,0.000,6,0.000,0.036,2674,1785,3416,0,0,0,0,0,0
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9460,-0.25,0.0,1001.4,10.6,494,9593,0.82,0.00,129.65,1.489,6,0.133,0.000,2919,1608,2827,0,0,0,0,0,0
$STATE,9594,end apogee,CONTROL_FINISHED_OK
$STATE,9594,begin climb
$GC,9596,0.86,145.9,1011.4,0.0,498,9742,1.08,2.60,137.05,1.478,4,0.072,0.060,3284,217,2232,0,0,0,0,0,0
$GC,9944,0.49,307.4,1018.0,2.4,508,10101,0.50,2.20,148.23,1.469,6,0.216,0.035,3168,1627,1572,0,0,0,0,0,0
$GC,10409,0.56,376.5,991.4,6.3,524,10479,0.00,2.17,63.70,1.425,4,0.000,0.062,3168,384,1291,0,0,0,0,0,0
$GC,10547,0.79,426.1,981.7,7.1,528,10603,0.28,1.92,47.78,1.414,6,0.076,0.033,3266,1631,1088,0,0,0,0,0,0
$GC,10938,0.79,426.1,942.1,10.6,541,10942,0.00,2.15,0.00,0.000,4,0.000,0.045,3266,2994,1079,0,0,0,0,0,0
$GC,11020,0.79,426.1,932.1,11.8,543,11026,0.03,2.20,0.00,0.000,6,0.191,0.046,3268,1623,1078,0,0,0,0,0,0
$GC,11339,0.79,426.1,894.1,12.2,554,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1623,1077,0,0,0,0,0,0
$GC,11645,0.79,426.1,855.3,12.7,564,11649,0.00,1.27,0.00,0.000,4,0.000,0.042,3267,2438,1076,0,0,0,0,0,0
$GC,11717,0.79,426.1,846.1,12.9,566,11721,0.00,1.33,0.00,0.000,6,0.000,0.050,3271,1610,1076,0,0,0,0,0,0
$GC,12053,0.77,426.1,804.0,12.5,577,12057,0.08,0.50,0.00,0.000,4,0.216,0.042,3257,1958,1076,0,0,0,0,0,0
$GC,12108,0.77,426.1,797.0,11.6,578,12112,0.00,0.57,0.00,0.000,6,0.000,0.055,3258,1605,1076,0,0,0,0,0,0
$GC,12427,0.77,426.1,759.3,11.8,589,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1604,1076,0,0,0,0,0,0
$GC,12733,0.77,426.1,724.5,11.2,599,12736,0.00,0.90,0.00,0.000,4,0.000,0.042,3258,2194,1076,0,0,0,0,0,0
$GC,12788,0.77,426.1,718.3,11.7,600,12792,0.00,0.95,0.00,0.000,6,0.000,0.052,3262,1611,1076,0,0,0,0,0,0
$GC,13107,0.77,426.1,684.8,10.4,611,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1611,1076,0,0,0,0,0,0
$GC,13413,0.77,426.1,654.9,9.6,621,13416,0.00,0.85,0.00,0.000,4,0.000,0.043,3262,2170,1076,0,0,0,0,0,0
$GC,13481,0.77,426.1,648.3,9.4,623,13484,0.00,0.90,0.00,0.000,6,0.000,0.054,3264,1607,1076,0,0,0,0,0,0
$GC,13821,0.77,426.1,616.2,9.7,634,13825,0.00,0.93,0.00,0.000,4,0.000,0.044,3264,2209,1076,0,0,0,0,0,0
$GC,13881,0.77,426.1,610.0,10.0,635,13888,0.05,0.98,0.00,0.000,6,0.244,0.051,3257,1607,1076,0,0,0,0,0,0
$GC,14195,0.79,426.1,578.7,10.2,646,14199,0.00,0.75,0.00,0.000,4,0.000,0.043,3257,2104,1076,0,0,0,0,0,0
$GC,14255,0.79,426.1,572.1,11.0,647,14261,0.00,0.77,0.00,0.000,6,0.000,0.054,3258,1615,1076,0,0,0,0,0,0
$GC,14568,0.79,426.1,539.1,10.8,658,14572,0.00,1.08,0.00,0.000,4,0.000,0.043,3258,2311,1075,0,0,0,0,0,0
$GC,14629,0.79,426.1,532.4,11.1,659,14634,0.00,1.12,0.00,0.000,6,0.000,0.050,3262,1608,1075,0,0,0,0,0,0
$GC,14942,0.79,426.1,497.4,11.4,670,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1608,1076,0,0,0,0,0,0
$GC,15248,0.79,426.1,462.7,11.5,680,15252,0.00,0.38,0.00,0.000,4,0.000,0.049,3262,1871,1075,0,0,0,0,0,0
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$STATE,19698,end climb,SURFACE_DEPTH_REACHED
$STATE,19698,begin surface coast
$FINISH,1.9,1.013522
$STATE,19724,end surface coast,CONTROL_FINISHED_OK
$STATE,19724,begin surface
$SM_CCo,19802,0.00,0.000,0,0,782,501.63
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$IRIDIUM_FIX,-4109.28,-513.22,291212,070751
$TT8_MAMPS,0.026964
$HUMID,50.47
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.5,104.273
$10V_AH,9.9,61.773
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.325,93.200,593.025,0.000,0.000,0.000,0.000,0.000,0.250,0.000,19.372,2555.268,13561.129,610.420,2946.609,200.284,0.000,1933.012,0.000,2912.029,0.000,2.829,0.000
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$SENSOR_SECS,657.533,1118.341,679.189,82.867,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,63583,1025
$CAP_FILE_SIZE,169524,0
$CFSIZE,2097086464,2035318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301212,062859,-4125.159,-512.708,43,1.0,43,-22.4